Gimbal and gimbal control method

Abstract

A gimbal for supporting a load includes at least three rotatably coupled driving axis assemblies and a controller. Each driving axis assembly includes a driving device and a joint arm configured to rotate when driven by the driving device. The controller is configured to control the gimbal to limit a rotation of a first driving axis assembly, and adjust positions of a second driving axis assembly and a third driving axis assembly, respectively, relative to the load, such that the gimbal maintains a forward orientation of the load.

What is claimed is: 
     
       1. A gimbal for supporting a load, comprising:
 at least three rotatably coupled driving axis assemblies, each driving axis assembly comprising a driving device and a joint arm configured to rotate when driven by the driving device; and 
 a controller configured to, based on a switch of the load from a first attitude to a second attitude that is opposite to the first attitude, control the gimbal to limit a rotation of a first driving axis assembly, and adjust positions of a second driving axis assembly and a third driving axis assembly, respectively, relative to the load, such that the gimbal maintains a forward orientation of the load. 
 
     
     
       2. The gimbal of  claim 1 , further comprising an electrical speed control configured to connect with the controller and the driving device, wherein the controller is configured to control an operation of the driving device through the electrical speed control. 
     
     
       3. The gimbal of  claim 1 , wherein:
 the load is an imaging device, and the position of the load shifts between a position above the gimbal and a position below the gimbal. 
 
     
     
       4. The gimbal of  claim 1 , wherein the gimbal comprises three driving axis assemblies including a yaw axis assembly, a roll axis assembly, and a pitch axis assembly. 
     
     
       5. The gimbal of  claim 4 ,
 wherein the yaw axis assembly, the roll axis assembly, and the pitch axis assembly are rotatably connected in sequence, 
 wherein the load is supported by a joint arm of the pitch axis assembly, and 
 wherein the controller is configured to control the gimbal to limit a rotation of a driving device of the yaw axis assembly during the rotation of the gimbal. 
 
     
     
       6. The gimbal of  claim 5 , wherein:
 the controller is configured to control the roll axis assembly to rotate relative to the yaw axis assembly to adjust a position of the load on the pitch axis assembly to face forwardly; and 
 the pitch axis assembly supports the load and rotates to a position above the driving device of the yaw axis assembly during the rotation of the gimbal. 
 
     
     
       7. The gimbal of  claim 6 , further comprising a locking mechanism configured to lock a rotation of a joint arm of the yaw axis assembly driven by the driving device of the yaw axis assembly,
 wherein the controller is configured to shut off the driving device of the yaw axis assembly and control the gimbal in a two-axis mode based on a determination by the controller that the joint arm of the yaw axis assembly is locked by the locking mechanism. 
 
     
     
       8. The gimbal of  claim 6 , wherein the controller is configured to release the limitation on the rotation of the driving device of the yaw axis assembly based on a determination by the controller that the load has rotated to a position right above the driving device of the yaw axis assembly. 
     
     
       9. The gimbal of  claim 6 ,
 wherein the yaw axis assembly comprises an angle sensor configured to detect a rotation angle of the driving device of the yaw axis assembly, and 
 wherein the controller is configured to control the gimbal in a three-axis mode based on a determination that an angle detected by the angle sensor is greater than or equal to a predetermined angle after the limitation on the rotation of the driving device of the yaw axis assembly is released. 
 
     
     
       10. The gimbal of  claim 6 ,
 wherein the roll axis assembly comprises an angle sensor, and 
 wherein the controller is configured to:
 obtain a joint angle of a driving device of the roll axis assembly detected by the angle sensor of the roll axis assembly, and 
 control the gimbal to limit the rotation of the driving device of the yaw axis assembly and control the gimbal in a two-axis mode, based on a determination that the joint angle is within a predetermined value range. 
 
 
     
     
       11. The gimbal of  claim 10 , wherein the yaw axis assembly comprises an inertial measurement unit configured to obtain, in real time, an attitude of the yaw axis assembly and provide a feedback to the controller. 
     
     
       12. The gimbal of  claim 11 , wherein the inertial measurement unit, the controller, and the driving device of the yaw axis assembly form a closed-loop control system configured to adjust, in real time, a rotation of the yaw axis assembly. 
     
     
       13. The gimbal of  claim 5 , wherein a rotation angle of the yaw axis assembly relative to the roll axis assembly is greater than or equal to 360 degrees. 
     
     
       14. The gimbal of  claim 5 , further comprising a handle assembly configured to couple with the yaw axis assembly through the driving device of the yaw axis assembly. 
     
     
       15. The gimbal of  claim 5 , wherein the roll axis assembly does not coincide with the pitch axis assembly during the rotation of the gimbal. 
     
     
       16. The gimbal of  claim 5 , wherein the controller is further configured to directly receive an input commander from a user and control the driving device of the yaw axis assembly to stop rotation, to switch the gimbal to a two-axis mode. 
     
     
       17. The gimbal of  claim 1 , wherein the first attitude is one of an upright attitude and an inverted attitude, and the second attitude is another one of the upright attitude and the inverted attitude. 
     
     
       18. A gimbal control method, comprising:
 detecting a rotation status of the gimbal, wherein the gimbal including three driving axis assemblies; 
 based on the rotation status indicating a switch of the load from a first attitude to a second attitude that is opposite to the first attitude, controlling the gimbal to limit a rotation of a first driving axis assembly, and adjust positions of a second driving axis assembly and a third driving axis assembly, respectively, relative to the load to maintain the gimbal in a forward orientation. 
 
     
     
       19. The method according to  claim 18 , wherein the detected rotation status includes a joint angle of the first driving axis assembly to be limited for rotation being within a predetermined value range. 
     
     
       20. A gimbal for supporting a load, comprising:
 at least three rotatably coupled driving axis assemblies, each driving axis assembly comprising a driving device and a joint arm configured to rotate when driven by the driving device; and 
 a controller configured to control the gimbal to limit a rotation of a first driving axis assembly, and adjust positions of a second driving axis assembly and a third driving axis assembly, respectively, relative to the load, such that the gimbal maintains a forward orientation of the load; 
 wherein limiting the rotation of the first driving axis assembly includes:
 controlling the gimbal to limit the rotation of the driving device of a yaw axis assembly and control the gimbal in a two-axis mode, based on a determination that a joint angle of a driving device of a roll axis assembly is within a predetermined value range.